#此文件从模板自动生成! 请勿更改!
set(CMAKE_SYSTEM_NAME Generic)
set(CMAKE_SYSTEM_VERSION 1)
cmake_minimum_required(VERSION 3.27)

# specify cross-compilers and tools
set(CMAKE_C_COMPILER arm-none-eabi-gcc)
set(CMAKE_CXX_COMPILER arm-none-eabi-g++)
set(CMAKE_ASM_COMPILER  arm-none-eabi-gcc)
set(CMAKE_AR arm-none-eabi-ar)
set(CMAKE_OBJCOPY arm-none-eabi-objcopy)
set(CMAKE_OBJDUMP arm-none-eabi-objdump)
set(SIZE arm-none-eabi-size)
set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)

# project settings
project(ICM20602 C CXX ASM)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_C_STANDARD 11)

#Uncomment for hardware floating point
add_compile_definitions(ARM_MATH_CM4;ARM_MATH_MATRIX_CHECK;ARM_MATH_ROUNDING)
add_compile_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16)
add_link_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16)

#Uncomment for software floating point
#add_compile_options(-mfloat-abi=soft)

add_compile_options(-mcpu=cortex-m4 -mthumb -mthumb-interwork)
add_compile_options(-ffunction-sections -fdata-sections -fno-common -fmessage-length=0)

# uncomment to mitigate c++17 absolute addresses warnings
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-register")

# Enable assembler files preprocessing
add_compile_options($<$<COMPILE_LANGUAGE:ASM>:-x$<SEMICOLON>assembler-with-cpp>)

if ("${CMAKE_BUILD_TYPE}" STREQUAL "Release")
    message(STATUS "Maximum optimization for speed")
    add_compile_options(-Ofast)
elseif ("${CMAKE_BUILD_TYPE}" STREQUAL "RelWithDebInfo")
    message(STATUS "Maximum optimization for speed, debug info included")
    add_compile_options(-Ofast -g)
elseif ("${CMAKE_BUILD_TYPE}" STREQUAL "MinSizeRel")
    message(STATUS "Maximum optimization for size")
    add_compile_options(-Os)
else ()
    message(STATUS "Minimal optimization, debug info included")
    add_compile_options(-Og -g)
endif ()

include_directories(Core/Inc
        Drivers/STM32F4xx_HAL_Driver/Inc
        Drivers/STM32F4xx_HAL_Driver/Inc/Legacy
        Drivers/CMSIS/Device/ST/STM32F4xx/Include
        Drivers/CMSIS/Include
        Middlewares/Third_Party/FreeRTOS/Source/include
        Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS
        Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F
        CMSIS/Core/Inc
        CMSIS/DSP/Inc
        CMSIS/DSP/PrivateInclude
        app/Start
        app/Task
        BSP/Crotral
        BSP/IMU_EKF
        BSP/Motor
        BSP/Revolve
        BSP)

add_definitions(-DDEBUG -DUSE_HAL_DRIVER -DSTM32F405xx -DQ_info_d)

file(GLOB_RECURSE SOURCES "Library/*.*"
        "Core/*.*" "BSP/*.*" "app/*.*"
        "Middlewares/*.*"
        "Drivers/*.*"
        "CMSIS/DSP/Src/BasicMathFunctions/BasicMathFunctions.c"
        "CMSIS/DSP/Src/BayesFunctions/BayesFunctions.c"
        "CMSIS/DSP/Src/CommonTables/CommonTables.c"
        "CMSIS/DSP/Src/ComplexMathFunctions/ComplexMathFunctions.c"
        "CMSIS/DSP/Src/ControllerFunctions/ControllerFunctions.c"
        "CMSIS/DSP/Src/FastMathFunctions/FastMathFunctions.c"
        "CMSIS/DSP/Src/FilteringFunctions/FilteringFunctions.c"
        "CMSIS/DSP/Src/InterpolationFunctions/InterpolationFunctions.c"
        "CMSIS/DSP/Src/MatrixFunctions/MatrixFunctions.c"
        "CMSIS/DSP/Src/QuaternionMathFunctions/QuaternionMathFunctions.c"
        "CMSIS/DSP/Src/StatisticsFunctions/StatisticsFunctions.c"
        "CMSIS/DSP/Src/SupportFunctions/SupportFunctions.c"
        "CMSIS/DSP/Src/SVMFunctions/SVMFunctions.c"
        "CMSIS/DSP/Src/TransformFunctions/TransformFunctions.c"
        "CMSIS/DSP/Src/WindowFunctions/WindowFunctions.c")

set(LINKER_SCRIPT ${CMAKE_SOURCE_DIR}/STM32F405RGTX_FLASH.ld)

add_link_options(-Wl,-gc-sections,--print-memory-usage,-Map=${PROJECT_BINARY_DIR}/${PROJECT_NAME}.map)
add_link_options(-mcpu=cortex-m4 -mthumb -mthumb-interwork)
add_link_options(-T ${LINKER_SCRIPT})

add_executable(${PROJECT_NAME}.elf ${SOURCES} ${LINKER_SCRIPT})

set(HEX_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.hex)
set(BIN_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.bin)

add_custom_command(TARGET ${PROJECT_NAME}.elf POST_BUILD
        COMMAND ${CMAKE_OBJCOPY} -Oihex $<TARGET_FILE:${PROJECT_NAME}.elf> ${HEX_FILE}
        COMMAND ${CMAKE_OBJCOPY} -Obinary $<TARGET_FILE:${PROJECT_NAME}.elf> ${BIN_FILE}
        COMMENT "Building ${HEX_FILE}
Building ${BIN_FILE}")
